Fractional order human arm dynamics with variability analyses

This paper uses experimental data to model the human arm at the elbow joint, using both third order integer dynamic models, commonly found in the literature, and fractional order models (involving derivatives of fractional order, between 1.2 and 1.4). The latter models prove to be superior, as they provide a better adjustment, with less parameters, with lower parameter uncertainty, and without instability problems. These novel results for modelling the human arm are in line with published literature suggesting that muscles may be profitably modelled with fractional derivatives. (C) 2013 Elsevier Ltd. All rights reserved.